@Article{Kaess12ijrr,
  author        = {M. Kaess and H. Johannsson and R. Roberts and V. Ila and J.J.
                  Leonard and F. Dellaert},
  title         = {{iSAM2}: Incremental Smoothing and Mapping Using the {B}ayes
                  Tree},
  journal       = {"Int. J. Robot. Research"},
  year          = 2012,
  volume        = 31,
  number        = 2,
  pages         = {217--236},
  month         = feb
}
